ResearchBenchmarksHierarchical Reward Design on RescueHierarchical Reward Design on RescueFollow16.65High-Level RewardsHier9.089211.052113.01514.9779Feb 20, 2026Evaluation resultsMethodMethodLinksHigh-Level RewardsHigh-Level Expert %Low-Level RewardsLow-Level Expert %Total RewardsTotal Expert %HierReward Type=LLM-genera...Reward Type=LLM-generated hierarchical rewards2026.0216.650.7692-0.690.769293.980.6923TaskReward Type=Task rewar...Reward Type=Task reward alone2026.0211.220.2-16.46073.80FlatReward Type=LLM-genera...Reward Type=LLM-generated flat rewards2026.029.380.125-2.620.62585.130.125